arctos_isaac

ONGOING project to import Arctos into IsaacSim and create a simple pick and place controller

WIP

• Curobo

COMPLETE

• Create a USD file for Arctos
• Create a YAML file for Arctos Config
• Add example scripts
• Create a manipulator controller for the Arctos
  • RMPflow
• Create a custom pick and place controller:
  • RMPflow

TODO

• Create a manipulator controller for the Arctos
  • Curobo
• Create a custom pick and place controller:
  • Curobo
• Wrap it all up in ROS2

NOTE

• Currently, there are some bugs in the USD descriptor. Friction, inertia etc TBC
• Curobo is a WIP and uses separate definitions. Eventually, RMPflow and Curobo will use the same defs
• RMPflow/IK solvers in the Arctos folders are working but in an alpha stage. See scripts

INSTRUCTIONS

1. install IsaacSim
2. install Curobo (https://Curobo.org/get_started/1_install_instructions.html)

CUROBO EXAMPLE - WIP

arctos.demo.mp4

RMPflow EXAMPLES

pick_and_place_random.mp4